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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="classRaycastCCDManager-members.html">List of all members</a>  </div>
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<div class="title">RaycastCCDManager Class Reference<div class="ingroups"><a class="el" href="group__extensions.html">Extensions</a></div></div>  </div>
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<p>Raycast-CCD manager.  
 <a href="classRaycastCCDManager.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxRaycastCCD_8h_source.html">PxRaycastCCD.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a7b0ca803dd4186218095216e92fd0c3f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRaycastCCDManager.html#a7b0ca803dd4186218095216e92fd0c3f">RaycastCCDManager</a> (<a class="el" href="classPxScene.html">PxScene</a> *scene)</td></tr>
<tr class="separator:a7b0ca803dd4186218095216e92fd0c3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c40ad39e6542dc894c029e5926d8d38"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRaycastCCDManager.html#a3c40ad39e6542dc894c029e5926d8d38">~RaycastCCDManager</a> ()</td></tr>
<tr class="separator:a3c40ad39e6542dc894c029e5926d8d38"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9625c0fc846b6729770fc7271b9520d3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRaycastCCDManager.html#a9625c0fc846b6729770fc7271b9520d3">registerRaycastCCDObject</a> (<a class="el" href="classPxRigidDynamic.html">PxRigidDynamic</a> *actor, <a class="el" href="classPxShape.html">PxShape</a> *shape)</td></tr>
<tr class="memdesc:a9625c0fc846b6729770fc7271b9520d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Register dynamic object for raycast CCD.  <a href="#a9625c0fc846b6729770fc7271b9520d3">More...</a><br /></td></tr>
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<tr class="memitem:a6023b5afa45982aa31f9310ca649bab2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRaycastCCDManager.html#a6023b5afa45982aa31f9310ca649bab2">doRaycastCCD</a> (bool doDynamicDynamicCCD)</td></tr>
<tr class="memdesc:a6023b5afa45982aa31f9310ca649bab2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform raycast CCD. Call this after your simulate/fetchResults calls.  <a href="#a6023b5afa45982aa31f9310ca649bab2">More...</a><br /></td></tr>
<tr class="separator:a6023b5afa45982aa31f9310ca649bab2"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:ae3881961e98ff225f0c561076e24e9fc"><td class="memItemLeft" align="right" valign="top">RaycastCCDManagerInternal *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRaycastCCDManager.html#ae3881961e98ff225f0c561076e24e9fc">mImpl</a></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Raycast-CCD manager. </p>
<p>Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.</p>
<p>This implementation has some limitations:</p><ul>
<li>it is only implemented for <a class="el" href="classPxRigidDynamic.html" title="PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. ">PxRigidDynamic</a> objects (not for <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body ">PxArticulationLink</a>)</li>
<li>it is only implemented for simple actors with 1 shape (not for "compounds")</li>
</ul>
<p>Also, since it is raycast-based, the solution is not perfect. In particular:</p><ul>
<li>small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small hole in the world (like the keyhole from a door).</li>
<li>dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against slow-moving dynamic objects.</li>
</ul>
<p>Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have scene-query shapes associated with them. That is, if the objects in the scene only use <a class="el" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aa7fa4fea0eecda9cc80a7aaa11a22df52" title="The shape will partake in collision in the physical simulation. ">PxShapeFlag::eSIMULATION_SHAPE</a> (and no <a class="el" href="structPxShapeFlag.html#a6edb481aaa3a998c5d6dd3fc4ad87f1aabc7ec24b00ed57f3914482f0706c6273" title="The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...). ">PxShapeFlag::eSCENE_QUERY_SHAPE</a>), then the raycast-CCD system will not work. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a7b0ca803dd4186218095216e92fd0c3f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7b0ca803dd4186218095216e92fd0c3f">&#9670;&nbsp;</a></span>RaycastCCDManager()</h2>

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          <td class="memname">RaycastCCDManager::RaycastCCDManager </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxScene.html">PxScene</a> *&#160;</td>
          <td class="paramname"><em>scene</em></td><td>)</td>
          <td></td>
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<h2 class="memtitle"><span class="permalink"><a href="#a3c40ad39e6542dc894c029e5926d8d38">&#9670;&nbsp;</a></span>~RaycastCCDManager()</h2>

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          <td class="memname">RaycastCCDManager::~RaycastCCDManager </td>
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          <td class="paramname"></td><td>)</td>
          <td></td>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a6023b5afa45982aa31f9310ca649bab2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6023b5afa45982aa31f9310ca649bab2">&#9670;&nbsp;</a></span>doRaycastCCD()</h2>

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          <td class="memname">void RaycastCCDManager::doRaycastCCD </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>doDynamicDynamicCCD</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Perform raycast CCD. Call this after your simulate/fetchResults calls. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">doDynamicDynamicCCD</td><td>True to enable dynamic-vs-dynamic CCD (more expensive, not always needed) </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a id="a9625c0fc846b6729770fc7271b9520d3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9625c0fc846b6729770fc7271b9520d3">&#9670;&nbsp;</a></span>registerRaycastCCDObject()</h2>

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          <td class="memname">bool RaycastCCDManager::registerRaycastCCDObject </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxRigidDynamic.html">PxRigidDynamic</a> *&#160;</td>
          <td class="paramname"><em>actor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classPxShape.html">PxShape</a> *&#160;</td>
          <td class="paramname"><em>shape</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Register dynamic object for raycast CCD. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">actor</td><td>object's actor </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shape</td><td>object's shape</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>True if success </dd></dl>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="ae3881961e98ff225f0c561076e24e9fc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae3881961e98ff225f0c561076e24e9fc">&#9670;&nbsp;</a></span>mImpl</h2>

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          <td class="memname">RaycastCCDManagerInternal* RaycastCCDManager::mImpl</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxRaycastCCD_8h_source.html">PxRaycastCCD.h</a></li>
</ul>
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